1.1 Version and Scope

Overview

The public entry points in the current repository are:

• C++17: include/arm_api.h
• C99: include/c_arm_api.h

Connection Semantics

• Arm::Connect() / Arm_Connect() callers only need to pass controllerIp and optional teachPanelIp explicitly.
• When teachPanelIp is empty, the SDK fills the address according to the current connection rules.

Public Modules

Module	Entry	Description
Arm	arm_api.h	Top-level facade
ControllerInfo	info.h	Information query, servo, soft mode
AlarmClient	alarm.h	Alarm query and reset
MotionControl	motion.h	Motion, pose, payload
JoggingControl	jogging.h	Step teaching, continuous jogging, stop
ProgramManager	program.h	Program execution, program poses
BasScript	bas_script.h	Builder
IoSignals	io_signals.h	IO read/write
RegisterBank	registers.h	R/PR/SR/MR/MH/MI
TrajectoryManager	trajectory.h	Trajectory control
RealTimeTrajectoryControl	real_time_trajectory.h	Real-time trajectory control
ControllerFileManager	file_manager.h	File management
ExtensionClient	extension.h	Extension query, switching, EasyService call
TopicPubSub	sub_pub.h	WebSocket subscription/publish
CoordinateSystemManager	coordinate_system.h	User/tool coordinate system management
ModbusClient	modbus.h	Modbus master and slave handles

Package Dependencies

• build/build.ps1 generates output/release/cpp17-sdk/ , output/release/c99-sdk/ , AgilebotCppSdk-cpp17.zip , and AgilebotCppSdk-c99.zip .
• The C++17 release directory and zip package additionally include the jsoncpp compile-time dependencies: include/json/ and lib/jsoncpp.lib .
• C99 headers do not expose jsoncpp types, so the C99 package does not include include/json/ or lib/jsoncpp.lib ; both packages still include the required runtime jsoncpp.dll under runtime/ .
• Example projects prefer dependencies from the release package and do not require a system-installed jsoncpp.

Current Scope

• C++17 is the main facade API.
• C99 uses the ArmHandle* session model and currently exports: core / info / alarm / motion / program / bas-script / jogging / extension / registers / signals / sub-pub / trajectory / file-manager / coordinate / modbus .
• The current examples cover ControllerInfo , MotionControl , JoggingControl , ProgramManager , BasScript , ExtensionClient , CoordinateSystemManager , and the C99 modules Arm Info , Arm Alarm , Arm Motion , Arm Program , Arm Registers , Arm Signals , Arm Trajectory , Arm FileManager , Arm Jogging , Arm Extension , Arm SubPub , Arm CoordinateSystem , and Arm Modbus .
• C99 real-time trajectory segments are exposed through ArmTrajectorySegmentC .

C99 BasScript Builder

C99 exposes BasScript builder support through ArmBasScriptHandle and ArmBasExtraParamHandle . Common entry points include Arm_BasScript_Create() , Arm_BasScript_CreateWithName() , Arm_BasScript_AppendLine(s) , Arm_BasScript_GetText() , and Arm_BasScript_Execute() . For the complete function set, see include/c_arm_bas_script.h and 4.6 C99 BasScript Builder.